Trajectory::State Struct Reference

Represents a single discrete state sample along a trajectory. More...

#include <trajectory.h>

Public Member Functions
	State ()=default
	Default constructor.
	State (units::Time t, units::Velocity velocity, units::Acceleration acceleration, Pose2d pose, units::Curvature curvature, units::Length s=0_in)
	Constructs a Trajectory State with explicit values.
bool	operator== (const State &other) const
	Checks equality between two States.
State	interpolate (State end_value, double i) const
	Linearly interpolates between this state and end_value at fraction i in [0, 1].

Public Attributes
units::Time	t = 0_s
	Elapsed time from trajectory start.
units::Length	s = 0_in
	Distance along trajectory.
units::Velocity	velocity = 0_inps
	Linear chassis velocity.
units::Acceleration	acceleration = 0_inps2
	Linear chassis acceleration.
Pose2d	pose {}
	2D robot pose (x, y, theta)
units::Curvature	curvature = 0_radpm
	Path curvature at pose.

Detailed Description

Represents a single discrete state sample along a trajectory.

Constructor & Destructor Documentation

State()

Trajectory::State::State ( units::Time t, units::Velocity velocity, units::Acceleration acceleration, Pose2d pose, units::Curvature curvature, units::Length s = 0_in )

inline

Constructs a Trajectory State with explicit values.

Parameters

t	Sample time.
velocity	Linear velocity.
acceleration	Linear acceleration.
pose	2D pose.
curvature	Path curvature.
s	Distance along trajectory.

Member Function Documentation

interpolate()

State Trajectory::State::interpolate ( State end_value, double i ) const

inline

Linearly interpolates between this state and end_value at fraction i in [0, 1].

Parameters

end_value	Target state for interpolation.
i	Interpolation fraction ratio [0, 1].

Returns

Interpolated State.

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The documentation for this struct was generated from the following file:

• trajectory.h